This recipe is based on the one from this book which my parents bought for me when I went off to university, but I have tweaked it a bit and made it more specific. This is the only thing I've made the book regularly - it now falls open at this page.
(To serve 2)
Put 7 breakfast sausages in a metal baking pan with a bit of cooking oil and put them in a 425°F oven for 7 minutes.
While the sausages are cooking, put 4 heaped tablespoons of plain flour into a bowl, add a couple of pinches of salt and a couple of eggs. Beat the egg into the flour (this is much easier with an electric whisk) until it's homogeneous. Gradually add 1 cup of milk while continuing to mix. If you add too much milk too quickly it'll go all lumpy.
Pour the batter over the hot sausages and oil (this bit makes a nice sizzling sound) and bake for about 24 minutes. Try not to open the oven door for the first 10 to 15 minutes, so that the pudding will rise well. The Yorkshire pudding should be golden brown.
About 10 minutes before it's done, wash a couple of medium-sized potatoes, stab them all over with a fork and put them on a plate in the microwave for 10 minutes. Peel and slice up some raw carrots to serve with it as well.
Plate it up and eat it with a nice tall glass of cold milk (you may be sensing a theme here with the beverage choices - I do like a nice glass of cold milk with a hot meal).